OpenRaiser/Intern-Atlas huggingface dataset:
6-DoF Robotic Grasping with Transformer
Venue: arXiv cs.RO 2023
Year: 2023

Robotic grasping aims to detect graspable points and their corresponding gripper configurations in a particular scene, and is fundamental for robot manipulation. Existing research works have demonstrated the potential of using a transformer model for robotic grasping, which can efficiently learn both global and local features. However, such methods are still limited in grasp detection on a 2D plane. In this paper, we extend a transformer model for 6-Degree-of-Freedom (6-DoF) robotic grasping, which makes it more flexible and suitable for tasks that concern safety. The key designs of our method are a serialization module that turns a 3D voxelized space into a sequence of feature tokens that a transformer model can consume and skip-connections that merge multiscale features effectively. In particular, our method takes a Truncated Signed Distance Function (TSDF) as input. After serializing the TSDF, a transformer model is utilized to encode the sequence, which can obtain a set of aggregated hidden feature vectors through multi-head attention. We then decode the hidden features to obtain per-voxel feature vectors through deconvolution and skip-connections. Voxel feature vectors are then used to regress parameters for executing grasping actions. On a recently proposed pile and packed grasping dataset, we showcase that our transformer-based method can surpass existing methods by about 5% in terms of success rates and declutter rates. We further evaluate the running time and generalization ability to demonstrate the superiority of the proposed method.
Unified Singular Protocol Flow for OAuth (USPFO) Ecosystem
Venue: arXiv cs.CR 2023
Year: 2023

OAuth 2.0 is a popular authorization framework that allows third-party clients such as websites and mobile apps to request limited access to a user's account on another application. The specification classifies clients into different types based on their ability to keep client credentials confidential. It also describes different grant types for obtaining access to the protected resources, with the authorization code and implicit grants being the most commonly used. Each client type and associated grant type have their unique security and usability considerations. In this paper, we propose a new approach for OAuth ecosystem that combines different client and grant types into a unified singular protocol flow for OAuth (USPFO), which can be used by both confidential and public clients. This approach aims to reduce the vulnerabilities associated with implementing and configuring different client types and grant types. Additionally, it provides built-in protections against known OAuth 2.0 vulnerabilities such as client impersonation, token (or code) thefts and replay attacks through integrity, authenticity, and audience binding. The proposed USPFO is largely compatible with existing Internet Engineering Task Force (IETF) Proposed Standard Request for Comments (RFCs), OAuth 2.0 extensions and active internet drafts.
Producing Usable Taxonomies Cheaply and Rapidly at Pinterest Using Discovered Dynamic $μ$-Topics
Venue: arXiv cs.CL 2023
Year: 2023

Creating a taxonomy of interests is expensive and human-effort intensive: not only do we need to identify nodes and interconnect them, in order to use the taxonomy, we must also connect the nodes to relevant entities such as users, pins, and queries. Connecting to entities is challenging because of ambiguities inherent to language but also because individual interests are dynamic and evolve. Here, we offer an alternative approach that begins with bottom-up discovery of $μ$-topics called pincepts. The discovery process itself connects these $μ$-topics dynamically with relevant queries, pins, and users at high precision, automatically adapting to shifting interests. Pincepts cover all areas of user interest and automatically adjust to the specificity of user interests and are thus suitable for the creation of various kinds of taxonomies. Human experts associate taxonomy nodes with $μ$-topics (on average, 3 $μ$-topics per node), and the $μ$-topics offer a high-level data layer that allows quick definition, immediate inspection, and easy modification. Even more powerfully, $μ$-topics allow easy exploration of nearby semantic space, enabling curators to spot and fill gaps. Curators' domain knowledge is heavily leveraged and we thus don't need untrained mechanical Turks, allowing further cost reduction. These $μ$-topics thus offer a satisfactory "symbolic" stratum over which to define taxonomies. We have successfully applied this technique for very rapidly iterating on and launching the home decor and fashion styles taxonomy for style-based personalization, prominently featured at the top of Pinterest search results, at 94% precision, improving search success rate by 34.8% as well as boosting long clicks and pin saves.
G-Rank: Unsupervised Continuous Learn-to-Rank for Edge Devices in a P2P Network
Venue: arXiv cs.LG 2023
Year: 2023

Ranking algorithms in traditional search engines are powered by enormous training data sets that are meticulously engineered and curated by a centralized entity. Decentralized peer-to-peer (p2p) networks such as torrenting applications and Web3 protocols deliberately eschew centralized databases and computational architectures when designing services and features. As such, robust search-and-rank algorithms designed for such domains must be engineered specifically for decentralized networks, and must be lightweight enough to operate on consumer-grade personal devices such as a smartphone or laptop computer. We introduce G-Rank, an unsupervised ranking algorithm designed exclusively for decentralized networks. We demonstrate that accurate, relevant ranking results can be achieved in fully decentralized networks without any centralized data aggregation, feature engineering, or model training. Furthermore, we show that such results are obtainable with minimal data preprocessing and computational overhead, and can still return highly relevant results even when a user's device is disconnected from the network. G-Rank is highly modular in design, is not limited to categorical data, and can be implemented in a variety of domains with minimal modification. The results herein show that unsupervised ranking models designed for decentralized p2p networks are not only viable, but worthy of further research.
On Approximating the Dynamic Response of Synchronous Generators via Operator Learning: A Step Towards Building Deep Operator-based Power Grid Simulators
Venue: arXiv cs.LG 2023
Year: 2023

This paper designs an Operator Learning framework to approximate the dynamic response of synchronous generators. One can use such a framework to (i) design a neural-based generator model that can interact with a numerical simulator of the rest of the power grid or (ii) shadow the generator's transient response. To this end, we design a data-driven Deep Operator Network~(DeepONet) that approximates the generators' infinite-dimensional solution operator. Then, we develop a DeepONet-based numerical scheme to simulate a given generator's dynamic response over a short/medium-term horizon. The proposed numerical scheme recursively employs the trained DeepONet to simulate the response for a given multi-dimensional input, which describes the interaction between the generator and the rest of the system. Furthermore, we develop a residual DeepONet numerical scheme that incorporates information from mathematical models of synchronous generators. We accompany this residual DeepONet scheme with an estimate for the prediction's cumulative error. We also design a data aggregation (DAgger) strategy that allows (i) employing supervised learning to train the proposed DeepONets and (ii) fine-tuning the DeepONet using aggregated training data that the DeepONet is likely to encounter during interactive simulations with other grid components. Finally, as a proof of concept, we demonstrate that the proposed DeepONet frameworks can effectively approximate the transient model of a synchronous generator.
A Mental Model Based Theory of Trust
Venue: arXiv cs.AI 2023
Year: 2023

Handling trust is one of the core requirements for facilitating effective interaction between the human and the AI agent. Thus, any decision-making framework designed to work with humans must possess the ability to estimate and leverage human trust. In this paper, we propose a mental model based theory of trust that not only can be used to infer trust, thus providing an alternative to psychological or behavioral trust inference methods, but also can be used as a foundation for any trust-aware decision-making frameworks. First, we introduce what trust means according to our theory and then use the theory to define trust evolution, human reliance and decision making, and a formalization of the appropriate level of trust in the agent. Using human subject studies, we compare our theory against one of the most common trust scales (Muir scale) to evaluate 1) whether the observations from the human studies match our proposed theory and 2) what aspects of trust are more aligned with our proposed theory.
Faster or Slower? Performance Mystery of Python Idioms Unveiled with Empirical Evidence
Venue: arXiv cs.SE 2023
Year: 2023

The usage of Python idioms is popular among Python developers in a formative study of 101 performance-related questions of Python idioms on Stack Overflow, we find that developers often get confused about the performance impact of Python idioms and use anecdotal toy code or rely on personal project experience which is often contradictory in performance outcomes. There has been no large-scale, systematic empirical evidence to reconcile these performance debates. In the paper, we create a large synthetic dataset with 24,126 pairs of non-idiomatic and functionally-equivalent idiomatic code for the nine unique Python idioms identified in Zhang et al., and reuse a large real-project dataset of 54,879 such code pairs provided by Zhang et al. We develop a reliable performance measurement method to compare the speedup or slowdown by idiomatic code against non-idiomatic counterpart, and analyze the performance discrepancies between the synthetic and real-project code, the relationships between code features and performance changes, and the root causes of performance changes at the bytecode level. We summarize our findings as some actionable suggestions for using Python idioms.
Exploring the Constructicon: Linguistic Analysis of a Computational CxG
Venue: arXiv cs.CL 2023
Year: 2023

Recent work has formulated the task for computational construction grammar as producing a constructicon given a corpus of usage. Previous work has evaluated these unsupervised grammars using both internal metrics (for example, Minimum Description Length) and external metrics (for example, performance on a dialectology task). This paper instead takes a linguistic approach to evaluation, first learning a constructicon and then analyzing its contents from a linguistic perspective. This analysis shows that a learned constructicon can be divided into nine major types of constructions, of which Verbal and Nominal are the most common. The paper also shows that both the token and type frequency of constructions can be used to model variation across registers and dialects.
Adversarial Style Augmentation for Domain Generalization
Venue: arXiv cs.CV 2023
Year: 2023

It is well-known that the performance of well-trained deep neural networks may degrade significantly when they are applied to data with even slightly shifted distributions. Recent studies have shown that introducing certain perturbation on feature statistics (\eg, mean and standard deviation) during training can enhance the cross-domain generalization ability. Existing methods typically conduct such perturbation by utilizing the feature statistics within a mini-batch, limiting their representation capability. Inspired by the domain generalization objective, we introduce a novel Adversarial Style Augmentation (ASA) method, which explores broader style spaces by generating more effective statistics perturbation via adversarial training. Specifically, we first search for the most sensitive direction and intensity for statistics perturbation by maximizing the task loss. By updating the model against the adversarial statistics perturbation during training, we allow the model to explore the worst-case domain and hence improve its generalization performance. To facilitate the application of ASA, we design a simple yet effective module, namely AdvStyle, which instantiates the ASA method in a plug-and-play manner. We justify the efficacy of AdvStyle on tasks of cross-domain classification and instance retrieval. It achieves higher mean accuracy and lower performance fluctuation. Especially, our method significantly outperforms its competitors on the PACS dataset under the single source generalization setting, \eg, boosting the classification accuracy from 61.2\% to 67.1\% with a ResNet50 backbone. Our code will be available at \url{https://github.com/YBZh/AdvStyle}.
CSDR-BERT: a pre-trained scientific dataset match model for Chinese Scientific Dataset Retrieval
Venue: arXiv cs.IR 2023
Year: 2023

As the number of open and shared scientific datasets on the Internet increases under the open science movement, efficiently retrieving these datasets is a crucial task in information retrieval (IR) research. In recent years, the development of large models, particularly the pre-training and fine-tuning paradigm, which involves pre-training on large models and fine-tuning on downstream tasks, has provided new solutions for IR match tasks. In this study, we use the original BERT token in the embedding layer, improve the Sentence-BERT model structure in the model layer by introducing the SimCSE and K-Nearest Neighbors method, and use the cosent loss function in the optimization phase to optimize the target output. Our experimental results show that our model outperforms other competing models on both public and self-built datasets through comparative experiments and ablation implementations. This study explores and validates the feasibility and efficiency of pre-training techniques for semantic retrieval of Chinese scientific datasets.
Typing of data transfer processes in the information system within the framework of threat modeling
Venue: arXiv cs.CR 2023
Year: 2023

Work is aimed at automating the process of obtaining a list of security threats aimed at the information system in the work processes of data transfer are considered, definitions for each process are presented. The typification of processes and the formalization of the list of basic data transfer processes are considered. Based on the presented typical data transmission processes, schemes of these processes have been developed that describe transmission channels and information carriers.
UzbekTagger: The rule-based POS tagger for Uzbek language
Venue: arXiv cs.CL 2023
Year: 2023

This research paper presents a part-of-speech (POS) annotated dataset and tagger tool for the low-resource Uzbek language. The dataset includes 12 tags, which were used to develop a rule-based POS-tagger tool. The corpus text used in the annotation process was made sure to be balanced over 20 different fields in order to ensure its representativeness. Uzbek being an agglutinative language so the most of the words in an Uzbek sentence are formed by adding suffixes. This nature of it makes the POS-tagging task difficult to find the stems of words and the right part-of-speech they belong to. The methodology proposed in this research is the stemming of the words with an affix/suffix stripping approach including database of the stem forms of the words in the Uzbek language. The tagger tool was tested on the annotated dataset and showed high accuracy in identifying and tagging parts of speech in Uzbek text. This newly presented dataset and tagger tool can be used for a variety of natural language processing tasks such as language modeling, machine translation, and text-to-speech synthesis. The presented dataset is the first of its kind to be made publicly available for Uzbek, and the POS-tagger tool created can also be used as a pivot to use as a base for other closely-related Turkic languages.
Measuring robustness of dynamical systems. Relating time and space to length and precision
Venue: arXiv cs.CC 2023
Year: 2023

Verification of discrete time or continuous time dynamical systems over the reals is known to be undecidable. It is however known that undecidability does not hold for various classes of systems: if robustness is defined as the fact that reachability relation is stable under infinitesimal perturbation, then their reachability relation is decidable. In other words, undecidability implies sensitivity under infinitesimal perturbation, a property usually not expected in systems considered in practice, and hence can be seen (somehow informally) as an artefact of the theory, that always assumes exactness. In a similar vein, it is known that, while undecidability holds for logical formulas over the reals, it does not hold when considering delta-undecidability: one must determine whether a property is true, or $δ$-far from being true. We first extend the previous statements to a theory for general (discrete time, continuous-time, and even hybrid) dynamical systems, and we relate the two approaches. We also relate robustness to some geometric properties of reachability relation. But mainly, when a system is robust, it then makes sense to quantify at which level of perturbation. We prove that assuming robustness to polynomial perturbations on precision leads to reachability verifiable in complexity class PSPACE, and even to a characterization of this complexity class. We prove that assuming robustness to polynomial perturbations on time or length of trajectories leads to similar statements, but with PTIME. It has been recently unexpectedly shown that the length of a solution of a polynomial ordinary differential equation corresponds to a time of computation: PTIME corresponds to solutions of polynomial differential equations of polynomial length. Our results argue that the answer is given by precision: space corresponds to the involved precision.
Life cycle models and security threats to a microcircuit during its development and operation
Venue: arXiv cs.CR 2023
Year: 2023

The growth of Internet of Things devices has shown the need to develop the direction of information security in the field of development and operation of microcircuits, since modern information systems are built around the latter. This article presents the life cycle of secure chips used as a root of trust ( Root of Trust ) information systems. The main stages of the life cycle of protected microcircuits are described, namely, the life cycle models during development and during operation by the end user.
On mesoscale thermal dynamics of para- and ortho- isomers of water
Venue: arXiv cs.RO 2023
Year: 2023

This work describes experiments on thermal dynamics of pure H2O excited by hydrodynamic cavitation, which has been reported to facilitate the spin conversion of para- and ortho-isomers at water interfaces. Previous measurements by NMR and capillary methods of excited samples demonstrated changes of proton density by 12-15%, the surface tension up to 15.7%, which can be attributed to a non-equilibrium para-/ortho- ratio. Beside these changes, we also expect a variation of heat capacity. Experiments use a differential calorimetric approach with two devices: one with an active thermostat for diathermic measurements, another is fully passive for long-term measurements. Samples after excitation are degassed at -0.09MPa and thermally equalized in a water bath. Conducted attempts demonstrated changes in the heat capacity of experimental samples by 4.17%--5.72% measured in the transient dynamics within 60 min after excitation, which decreases to 2.08% in the steady-state dynamics 90-120 min after excitation. Additionally, we observed occurrence of thermal fluctuations at the level of 10^-3 C relative temperature on 20-40 min mesoscale dynamics and a long-term increase of such fluctuations in experimental samples. Obtained results are reproducible in both devices and are supported by previously published outcomes on four-photon scattering spectra in the range from -1.5 to 1.5 cm^-1 and electrochemical reactivity in CO2 and H2O2 pathways. Based on these results, we propose a hypothesis about ongoing spin conversion process on mesoscopic scales under weak influx of energy caused by thermal, EM or geomagnetic factors; this enables explaining electrochemical and thermal anomalies observed in long-term measurements.
Reliable Federated Disentangling Network for Non-IID Domain Feature
Venue: arXiv cs.CV 2023
Year: 2023

Federated learning (FL), as an effective decentralized distributed learning approach, enables multiple institutions to jointly train a model without sharing their local data. However, the domain feature shift caused by different acquisition devices/clients substantially degrades the performance of the FL model. Furthermore, most existing FL approaches aim to improve accuracy without considering reliability (e.g., confidence or uncertainty). The predictions are thus unreliable when deployed in safety-critical applications. Therefore, aiming at improving the performance of FL in non-Domain feature issues while enabling the model more reliable. In this paper, we propose a novel reliable federated disentangling network, termed RFedDis, which utilizes feature disentangling to enable the ability to capture the global domain-invariant cross-client representation and preserve local client-specific feature learning. Meanwhile, to effectively integrate the decoupled features, an uncertainty-aware decision fusion is also introduced to guide the network for dynamically integrating the decoupled features at the evidence level, while producing a reliable prediction with an estimated uncertainty. To the best of our knowledge, our proposed RFedDis is the first work to develop an FL approach based on evidential uncertainty combined with feature disentangling, which enhances the performance and reliability of FL in non-IID domain features. Extensive experimental results show that our proposed RFedDis provides outstanding performance with a high degree of reliability as compared to other state-of-the-art FL approaches.
Eye Image-based Algorithms to Estimate Percentage Closure of Eye and Saccadic Ratio for Alertness Detection
Venue: arXiv cs.CV 2023
Year: 2023

The current research work has developed two novel algorithms for image-based measurement of Percentage Closure of Eyes-PERCLOS and Saccadic Ratio-SR. The PERCLOS is estimated by correlation filter-based technique. An innovative combination of gray scale and Near Infrared sensitive camera with passive NIR illuminator helps to achieve higher accuracy than the existing art. Two novel techniques have been developed for the detection of iris centre and eye corners. We propose an index called Form Factor to find the iris position. The saccadic velocity profile can be estimated from the temporal information of the iris positions using standard tracking algorithm such as Extended Kalman filter. Experimental results indicate that the estimation of both SR and PERCLOS can predict the level of alertness of an operator from onset of diminished alertness to fatigue.